1.4.3 (2011-05-26)

opencv2

• Bumped 2.2 branch revision to r5206.

1.4.2 (2011-04-05)

cv_bridge

• Fixed issue where pointer version to toCvCopy would ignore the requested encoding (ROS Answers).

• Rescale pixel values for conversions between MONO8 [0, 255] and MONO16 [0, 65535].

image_geometry

• Fixed image rectification in the presence of binning. <<Ticket(ros-pkg 4848)>>

opencv2

• Bumped 2.2 branch revision to r4812.

1.4.1 (2011-02-17)

image_geometry:

• Fixed an error when updating StereoCameraModel. <<Ticket(wg-ros-pkg 5019)>>

1.4.0 (2011-02-10)

This summarizes important new features and changes since C Turtle (1.2.x series). For a complete list of changes including bug fixes, see the 1.3.x changelists.

opencv2:

• Upgraded to OpenCV 2.2.
• We are tracking the 2.2 branch, so we can pull in back-ported bug fixes.

cv_bridge:

• Added new C++ interface with clear ownership and const semantics. See the tutorial.

• Use of the old C++ interface is discouraged, but not yet officially deprecated.

image_geometry:

• Many changes related to REP 104, specifying updates to the sensor_msgs/CameraInfo message.

  • Support for binning. New accessor functions binningX(), binningY().

  • Support for new rational polynomial distortion model.

  • Distinguish between raw ROI (as used for capture by the camera driver) and rectified ROI (best fits the raw ROI as it appears in the rectified image). See REP 104 for details. New functions: rawRoi(), rectifiedRoi(), rectifyRoi(), unrectifyRoi().

  • Distinguish between full resolution (at which camera was calibrated) and reduced resolution (affected by the current ROI and binning settings). New functions: fullResolution(), reducedResolution(), toFullResolution(), toReducedResolution().

  • width() and height() are deprecated. Use fullResolution() or reducedResolution() as appropriate.

• fromCameraInfo() now returns a boolean value, true if parameters have changed since the last call.

• New functions of PinholeCameraModel relating changes in Cartesian space and pixel space: getDeltaU(), getDeltaV(), getDeltaX(), getDeltaY().

• New functions of StereoCameraModel relating disparity and depth: getZ(), getDisparity().

• Added overloads of projection functions that return their output directly instead of through a reference parameter. The old signatures are deprecated. Affects: project3dToPixel(), projectPixelTo3dRay(), rectifyPoint(), unrectifyPoint().

• projectPixelTo3dRay() now normalizes to z=1.